Julien Alexandre Dit Sandretto, Alexandre Chapoutot, C. Garion, X. Thirioux, Ghiles Ziat
{"title":"Constraint-based Verification of Formation Control","authors":"Julien Alexandre Dit Sandretto, Alexandre Chapoutot, C. Garion, X. Thirioux, Ghiles Ziat","doi":"10.1109/CDC45484.2021.9683622","DOIUrl":null,"url":null,"abstract":"Collision-free motion planning of formation of robots is an essential property to assess for safety purpose. We propose in this paper a new formal verification method based on abstract interpretation and constraint satisfaction problems to reach this goal. We consider state of the art control algorithms for formation maneuver to generate trajectories for a group of robots. Additionally, bounded uncertainties are considered to represent potential localization and measure errors. The collision-free property is formalized using the constraint satisfaction problem framework.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"242 2","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 60th IEEE Conference on Decision and Control (CDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC45484.2021.9683622","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Collision-free motion planning of formation of robots is an essential property to assess for safety purpose. We propose in this paper a new formal verification method based on abstract interpretation and constraint satisfaction problems to reach this goal. We consider state of the art control algorithms for formation maneuver to generate trajectories for a group of robots. Additionally, bounded uncertainties are considered to represent potential localization and measure errors. The collision-free property is formalized using the constraint satisfaction problem framework.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
